B-Axis Operating Range - YASKAWA MOTOMAN-MPL80 II Instructions Manual

II
MPL80
5.5
5 Basic Specifications

5.5 B-Axis Operating Range

B-Axis Operating Range
The operating range of the B-axis maintaining a constant angle to the
center of U-axis is shown in Fig. 5-4 "B-Axis Operating Range".
By "B-axis adjustable motion function", the B-axis maintains the same
posture to the ground regardless of the L- or U-axis angle.
The operating range is ±15° (0 degree is defined as the angle when the
wrist flange is horizontal and facing to the ground.) When the B-axis
position exceeds this limit, "Special Soft Limit" occurs.
Note: In relation with interference with the upper arm, the range of motion
can be limited.
Fig. 5-4: B-Axis Operating Range
U-axis rotation center
L-axis rotation center
S-axis rotation center
5-4
B-axis rotation center
Upper arm
(U-arm)
Wrist flange
HW1482870
170904-1CD
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